| 摘要 |
PROBLEM TO BE SOLVED: To make swing stopping control and positioning control compatible and to improve swing stopping accuracy and positioning accuracy. SOLUTION: A basic speed pattern of a traveling body is prepared based on from/to data and rope length. Initial swing of a hoisting tool is measured after winding up is started, and acceleration is corrected to a value corresponding to the initial swing to perform acceleration operation. Transient swing of the hoisting tool is measured during uniform operation to correct a deceleration pattern and a deceleration point based on control data obtained at the time of transient swing and acceleration. Operation is shifted to deceleration operation at the deceleration point, residual swing of the hoisting tool is measured here, and deceleration is corrected to a value corresponding to residual swing. Operation is shifted to low speed operation at a creep speed, a stop point is corrected based on control data at the time of deceleration, and a stop command is outputted at the stop point.
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